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<title>Box2D: b2RevoluteJointDef Struct Reference</title>

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<a href="#pub-methods">Public Member Functions</a> &#124;
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<div class="title">b2RevoluteJointDef Struct Reference</div>  </div>
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<!-- doxytag: class="b2RevoluteJointDef" --><!-- doxytag: inherits="b2JointDef" -->
<p><code>#include &lt;<a class="el" href="b2_revolute_joint_8h_source.html">b2RevoluteJoint.h</a>&gt;</code></p>
<div class="dynheader">
Inheritance diagram for b2RevoluteJointDef:</div>
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 <div class="center">
  <img src="structb2_revolute_joint_def.png" usemap="#b2RevoluteJointDef_map" alt=""/>
  <map id="b2RevoluteJointDef_map" name="b2RevoluteJointDef_map">
<area href="structb2_joint_def.html" title="Joint definitions are used to construct joints." alt="b2JointDef" shape="rect" coords="0,0,122,24"/>
</map>
 </div></div>

<p><a href="structb2_revolute_joint_def-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structb2_revolute_joint_def.html#a6401b2a663533415d032a525e4fa2806">Initialize</a> (<a class="el" href="classb2_body.html">b2Body</a> *<a class="el" href="structb2_joint_def.html#a8cd54c93da396be75a9788f2c6897f05">bodyA</a>, <a class="el" href="classb2_body.html">b2Body</a> *<a class="el" href="structb2_joint_def.html#aa4f4dee2fbcd12187b19506b60e68e3d">bodyB</a>, const <a class="el" href="structb2_vec2.html">b2Vec2</a> &amp;anchor)</td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a76337d07aa63232a7b20d50decc862ae"></a><!-- doxytag: member="b2RevoluteJointDef::localAnchorA" ref="a76337d07aa63232a7b20d50decc862ae" args="" -->
<a class="el" href="structb2_vec2.html">b2Vec2</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structb2_revolute_joint_def.html#a76337d07aa63232a7b20d50decc862ae">localAnchorA</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The local anchor point relative to bodyA's origin. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3f33bc1d9f6c22043a5ff2f1d89f04e0"></a><!-- doxytag: member="b2RevoluteJointDef::localAnchorB" ref="a3f33bc1d9f6c22043a5ff2f1d89f04e0" args="" -->
<a class="el" href="structb2_vec2.html">b2Vec2</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structb2_revolute_joint_def.html#a3f33bc1d9f6c22043a5ff2f1d89f04e0">localAnchorB</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The local anchor point relative to bodyB's origin. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1858d897d5fea04c5e606a1ff73f64f8"></a><!-- doxytag: member="b2RevoluteJointDef::referenceAngle" ref="a1858d897d5fea04c5e606a1ff73f64f8" args="" -->
float32&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structb2_revolute_joint_def.html#a1858d897d5fea04c5e606a1ff73f64f8">referenceAngle</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The bodyB angle minus bodyA angle in the reference state (radians). <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2eaefc5fc5caf879cfd59ebcd852b756"></a><!-- doxytag: member="b2RevoluteJointDef::enableLimit" ref="a2eaefc5fc5caf879cfd59ebcd852b756" args="" -->
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structb2_revolute_joint_def.html#a2eaefc5fc5caf879cfd59ebcd852b756">enableLimit</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">A flag to enable joint limits. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a24d0b2638a01405c77bd1c0de3e53de8"></a><!-- doxytag: member="b2RevoluteJointDef::lowerAngle" ref="a24d0b2638a01405c77bd1c0de3e53de8" args="" -->
float32&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structb2_revolute_joint_def.html#a24d0b2638a01405c77bd1c0de3e53de8">lowerAngle</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The lower angle for the joint limit (radians). <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a692cfe333ad12afd5753a6ec54e39a66"></a><!-- doxytag: member="b2RevoluteJointDef::upperAngle" ref="a692cfe333ad12afd5753a6ec54e39a66" args="" -->
float32&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structb2_revolute_joint_def.html#a692cfe333ad12afd5753a6ec54e39a66">upperAngle</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The upper angle for the joint limit (radians). <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa94d9e66be9f03818d0cfbd9c70b2996"></a><!-- doxytag: member="b2RevoluteJointDef::enableMotor" ref="aa94d9e66be9f03818d0cfbd9c70b2996" args="" -->
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structb2_revolute_joint_def.html#aa94d9e66be9f03818d0cfbd9c70b2996">enableMotor</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">A flag to enable the joint motor. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aced7cf768f4dcc3561576a39c7b92ec4"></a><!-- doxytag: member="b2RevoluteJointDef::motorSpeed" ref="aced7cf768f4dcc3561576a39c7b92ec4" args="" -->
float32&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structb2_revolute_joint_def.html#aced7cf768f4dcc3561576a39c7b92ec4">motorSpeed</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The desired motor speed. Usually in radians per second. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float32&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structb2_revolute_joint_def.html#a9fc1b67fe6d1bc31f88cc2cfd681fe30">maxMotorTorque</a></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Revolute joint definition. This requires defining an anchor point where the bodies are joined. The definition uses local anchor points so that the initial configuration can violate the constraint slightly. You also need to specify the initial relative angle for joint limits. This helps when saving and loading a game. The local anchor points are measured from the body's origin rather than the center of mass because: 1. you might not know where the center of mass will be. 2. if you add/remove shapes from a body and recompute the mass, the joints will be broken. </p>
</div><hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a6401b2a663533415d032a525e4fa2806"></a><!-- doxytag: member="b2RevoluteJointDef::Initialize" ref="a6401b2a663533415d032a525e4fa2806" args="(b2Body *bodyA, b2Body *bodyB, const b2Vec2 &amp;anchor)" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void b2RevoluteJointDef::Initialize </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classb2_body.html">b2Body</a> *&#160;</td>
          <td class="paramname"><em>bodyA</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classb2_body.html">b2Body</a> *&#160;</td>
          <td class="paramname"><em>bodyB</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="structb2_vec2.html">b2Vec2</a> &amp;&#160;</td>
          <td class="paramname"><em>anchor</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>Initialize the bodies, anchors, and reference angle using a world anchor point. </p>

</div>
</div>
<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a9fc1b67fe6d1bc31f88cc2cfd681fe30"></a><!-- doxytag: member="b2RevoluteJointDef::maxMotorTorque" ref="a9fc1b67fe6d1bc31f88cc2cfd681fe30" args="" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">float32 <a class="el" href="structb2_revolute_joint_def.html#a9fc1b67fe6d1bc31f88cc2cfd681fe30">b2RevoluteJointDef::maxMotorTorque</a></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>The maximum motor torque used to achieve the desired motor speed. Usually in N-m. </p>

</div>
</div>
<hr/>The documentation for this struct was generated from the following files:<ul>
<li><a class="el" href="b2_revolute_joint_8h_source.html">b2RevoluteJoint.h</a></li>
<li>b2RevoluteJoint.cpp</li>
</ul>
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